version: 66.06
glider: 523
mission: 4
dive: 299
start: 5 26 113 13 29 58
data:
$ID,523
$MISSION,4
$DIVE,299
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41733.238
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,132000,2109.267,-15756.464,14,2.0,14,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.5
$GPS2,132942,2109.277,-15756.706,24,0.9,24,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,95.3,24672,-16.7,-9.036
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.12,0.000,2,0.000,0.000,34,1980,3344,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.1,-4.0,12,113,9.52,0.00,-1.15,0.000,6,0.231,0.000,2395,1978,3398,0,0,0,0,0,0
$GC,269,-0.74,-146.0,39.9,-14.3,44,277,0.00,2.35,0.00,0.000,4,0.000,0.058,2396,542,3400,0,0,0,0,0,0
$GC,389,-0.74,-146.0,58.2,-18.3,65,394,0.00,2.17,0.00,0.000,6,0.000,0.034,2387,1973,3400,0,0,0,0,0,0
$GC,717,-0.74,-146.0,107.2,-12.8,108,721,0.00,2.30,0.00,0.000,4,0.000,0.054,2387,541,3401,0,0,0,0,0,0
$GC,804,-0.74,-146.0,119.2,-14.5,115,811,0.00,2.17,0.00,0.000,6,0.000,0.033,2378,1961,3401,0,0,0,0,0,0
$GC,1132,-0.74,-146.0,155.4,-10.2,146,1136,0.00,2.20,0.00,0.000,4,0.000,0.055,2368,3367,3402,0,0,0,0,0,0
$GC,1240,-0.74,-146.0,167.4,-11.3,155,1247,0.08,2.25,0.00,0.000,6,0.133,0.044,2392,1954,3402,0,0,0,0,0,0
$GC,1575,-0.74,-146.0,202.2,-10.1,186,1579,0.00,2.22,0.00,0.000,4,0.000,0.051,2392,543,3402,0,0,0,0,0,0
$GC,1834,-0.74,-146.0,228.7,-12.1,197,1838,0.00,2.12,0.00,0.000,6,0.000,0.032,2384,1970,3402,0,0,0,0,0,0
$GC,2150,-0.74,-146.0,258.5,-7.6,212,2154,0.00,2.25,0.00,0.000,4,0.000,0.051,2384,547,3402,0,0,0,0,0,0
$GC,2353,-0.74,-146.0,277.3,-9.2,221,2357,0.00,2.12,0.00,0.000,6,0.000,0.035,2375,1966,3402,0,0,0,0,0,0
$GC,2696,-0.74,-146.0,304.4,-7.8,237,2701,0.00,2.20,0.00,0.000,4,0.000,0.053,2364,3364,3402,0,0,0,0,0,0
$GC,2757,-0.74,-146.0,309.1,-7.2,238,2762,0.12,2.15,0.00,0.000,6,0.150,0.040,2397,1955,3402,0,0,0,0,0,0
$GC,3108,-0.74,-146.0,331.4,-6.5,247,3112,0.00,2.22,0.00,0.000,4,0.000,0.055,2398,544,3402,0,0,0,0,0,0
$GC,3260,-0.74,-146.0,343.4,-7.9,250,3264,0.00,2.12,0.00,0.000,6,0.000,0.037,2389,1956,3400,0,0,0,0,0,0
$GC,3602,-0.74,-146.0,369.6,-7.5,259,3607,0.00,2.22,0.00,0.000,4,0.000,0.056,2389,551,3398,0,0,0,0,0,0
$GC,3652,-0.74,-146.0,373.9,-8.3,260,3656,0.00,2.15,0.00,0.000,6,0.000,0.038,2380,1969,3397,0,0,0,0,0,0
$GC,3973,-0.74,-146.0,399.2,-7.8,268,3977,0.00,2.28,0.00,0.000,4,0.000,0.058,2379,554,3395,0,0,0,0,0,0
$GC,4105,-0.74,-146.0,409.9,-8.0,271,4110,0.12,2.15,0.00,0.000,6,0.169,0.041,2404,1961,3394,0,0,0,0,0,0
$GC,4437,-0.74,-146.0,428.3,-5.5,279,4441,0.00,2.20,0.00,0.000,4,0.000,0.058,2395,3366,3393,0,0,0,0,0,0
$GC,4505,-0.74,-146.0,432.1,-5.6,280,4509,0.00,2.20,0.00,0.000,6,0.000,0.042,2395,1950,3393,0,0,0,0,0,0
$GC,4848,-0.74,-146.0,449.9,-4.9,289,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1950,3390,0,0,0,0,0,0
$STATE,4886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4886,begin apogee
$GC,4892,-0.17,0.0,452.1,5.1,290,5014,0.57,0.00,118.82,0.785,6,0.120,0.000,2580,1950,2799,0,0,0,0,0,0
$STATE,5015,end apogee,CONTROL_FINISHED_OK
$STATE,5015,begin climb
$GC,5018,0.74,146.0,452.8,0.0,293,5148,0.85,0.00,126.38,0.754,6,0.077,0.000,2874,1949,2203,0,0,0,0,0,0
$GC,5466,0.74,146.0,391.8,14.8,304,5470,0.00,2.33,0.00,0.000,4,0.000,0.057,2874,3386,2196,0,0,0,0,0,0
$GC,5493,0.74,146.0,387.3,14.7,304,5497,0.00,2.28,0.00,0.000,6,0.000,0.050,2882,1975,2195,0,0,0,0,0,0
$GC,5825,0.74,146.0,341.2,13.6,312,5829,0.00,2.28,0.00,0.000,4,0.000,0.069,2893,559,2193,0,0,0,0,0,0
$GC,5909,0.74,146.0,330.0,13.5,314,5913,0.00,2.22,0.00,0.000,6,0.000,0.044,2892,1981,2192,0,0,0,0,0,0
$GC,6240,0.74,146.0,285.1,13.1,324,6244,0.00,2.20,0.00,0.000,4,0.000,0.052,2892,3396,2191,0,0,0,0,0,0
$GC,6327,0.74,146.0,273.6,12.9,328,6331,0.00,2.22,0.00,0.000,6,0.000,0.043,2901,1956,2190,0,0,0,0,0,0
$GC,6653,0.74,146.0,231.5,12.7,344,6657,0.00,2.20,0.00,0.000,4,0.000,0.061,2911,570,2189,0,0,0,0,0,0
$GC,6777,0.74,146.0,215.6,12.2,349,6783,0.12,2.20,0.00,0.000,6,0.143,0.043,2877,1981,2189,0,0,0,0,0,0
$GC,7101,0.74,146.0,182.0,9.9,373,7105,0.00,2.17,0.00,0.000,4,0.000,0.051,2877,3386,2188,0,0,0,0,0,0
$GC,7196,0.74,146.0,171.4,11.4,381,7200,0.00,2.17,0.00,0.000,6,0.000,0.040,2884,1975,2187,0,0,0,0,0,0
$GC,7525,0.74,146.0,136.4,10.4,411,7529,0.00,2.25,0.00,0.000,4,0.000,0.057,2884,3388,2187,0,0,0,0,0,0
$GC,7598,0.74,146.0,128.7,10.5,417,7602,0.00,2.20,0.00,0.000,6,0.000,0.046,2893,1973,2187,0,0,0,0,0,0
$GC,7927,0.77,171.3,98.3,8.0,447,7951,0.00,2.30,19.88,0.528,4,0.000,0.060,2896,558,2100,0,0,0,0,0,0
$GC,8043,0.79,187.4,89.0,8.4,457,8068,0.00,2.17,14.93,0.502,6,0.000,0.035,2896,1980,2033,0,0,0,0,0,0
$GC,8387,0.83,225.3,59.8,7.5,510,8429,0.00,2.25,32.58,0.492,4,0.000,0.054,2896,3375,1880,0,0,0,0,0,0
$GC,8518,0.83,225.3,47.5,9.7,533,8523,0.00,2.17,0.00,0.000,6,0.000,0.039,2904,1973,1879,0,0,0,0,0,0
$GC,8841,0.83,225.3,16.1,11.0,594,8849,0.00,2.28,0.00,0.000,4,0.000,0.058,2912,562,1879,0,0,0,0,0,0
$GC,8920,0.83,225.3,6.9,12.8,608,8928,0.00,2.17,0.00,0.000,6,0.000,0.032,2912,1979,1879,0,0,0,0,0,0
$STATE,8955,end climb,SURFACE_DEPTH_REACHED
$STATE,8955,begin surface coast
$FINISH,0.7,1.023167
$STATE,8977,end surface coast,CONTROL_FINISHED_OK
$STATE,8977,begin surface
$SM_CCo,8995,34.67,0.434,0,0,1575,300.24
$SM_GC,1.23,0.00,0.00,34.67,0.000,0.000,0.434,40,1994,1575,-8.13,0.96,300.24
$IRIDIUM_FIX,2106.38,-15802.47,200802,131349
$TT8_MAMPS,0.028379
$HUMID,62.36
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.7,24.517
$10V_AH,10.4,26.877
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.650,84.150,312.575,34.675,0.000,60.562,75.784,225.709,19.250,0.000,25.346,1157.994,5303.836,410.320,2104.512,633.470,0.000,1152.205,0.000,2047.594,0.000,123.318,0.000
$DEVICE_MAMPS,230.867,69.030,784.641,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,419.727,352.304,1218.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,34978,618
$CAP_FILE_SIZE,101980,0
$CFSIZE,260165632,240984064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260513,160135,2108.979,-15756.466,28,1.2,28,9.8